Small object sorting system and method

ABSTRACT

An automated object sorting system is provided. In various embodiments, the automated object sorting system includes an automated object extraction assembly and an automated object collection assembly. The automated object extraction assembly extracts one or more objects from an object sorting tray based on one or more attributes and/or traits of interest. The automated collection assembly selectively deposits the extracted objects in selected collection receptacles according to the particular attributes and/or traits of each respective object.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional of U.S. patent application Ser. No.11/769,318, filed on Jun. 27, 2007, which claims priority to and thebenefit of U.S. Provisional Application No. 60/817,062, filed on Jun.28, 2006. The disclosures of each of the above applications areincorporated herein by reference in their entireties.

FIELD

The present disclosure relates generally to a system and method forsorting small objects, such as seeds, pharmaceutical tablets orcapsules, and any other agricultural, manufactured or produced smallobjects.

BACKGROUND

The sorting of small agricultural, manufactured and/or produced objectssuch as seeds, pharmaceutical tablets or capsules, small electricalcomponents, ball bearing, small food products, etc., can be cumbersome,painstakingly tedious, and wrought with human error.

For example, in seed breeding, large numbers of seeds are sampled andanalyzed to determine whether the seeds possess a particular genotype ortraits of interest. Various known systems, devices, tools, and machineryare commonly used to sample a large number of seeds by removing a smallportion of each seed, while leaving the remaining seed viable forplanting. The removed portions, or chips, and the corresponding ‘donor’seeds are then cataloged to track the seeds and the respectivecorresponding samples. Each sample is then analyzed to identify variousattributes of the respective sample and donor seed, such as DNAcharacteristics and/or traits.

After the seeds are sampled and the samples have been analyzed, theseeds are individually sorted according to attributes of each respectiveseed. Typically, the sorting process is painstakingly performed by hand,which is extremely time consuming and subject to human error.

BRIEF SUMMARY

An automated object sorting system is provided. In various embodiments,the automated object sorting system includes an automated objectextraction assembly and an automated object collection assembly. Theautomated object extraction assembly extracts one or more objects froman object sorting tray. The automated object extraction assembly thenplaces the extracted objects in a reception end of an object transferfunnel in a selected sequence that is determined based on particulargenotype or attributes of each extracted object, e.g., characteristicsand/or traits such as size, shape, color, quality, weight composition orgenetic traits. The objects traverse the transfer funnel to adisposition end of the transfer funnel. The automated collectionassembly selectively positions one or more collection receptaclesadjacent the disposition end of the transfer funnel such that theobjects are deposited in selected collection receptacles. Moreparticularly, the automated collection assembly positions selectedcollection receptacles adjacent the disposition end of the transferfunnel in accordance with the sequence that the objects are placed inthe reception end of the object transfer funnel. Therefore, theautomated object sorting system automatically removes one or moreobjects from the object sorting tray and selectively deposits the one ormore extracted objects in one or more collection receptacles accordingto the particular attributes of each respective object.

Further areas of applicability of the present disclosure will becomeapparent from the detailed description provided hereinafter. It shouldbe understood that the detailed description and specific examples, whileindicating various embodiments, are intended for purposes ofillustration only and are not intended to limit the scope of the presentteachings. Furthermore, the features, functions, and advantages of thepresent disclosure can be achieved independently in various embodimentsor may be combined in yet other embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described herein are for illustration purposes only and arenot intended to limit the scope of the present teachings in any way.

FIG. 1 is a side view of an automated small object sorting system(ASOSS), in accordance with various embodiments;

FIG. 2 is an isometric view of an automated object extraction assemblyof the ASOSS shown in FIG. 1, in accordance with various embodiments;

FIG. 3 is a top view of an automated collection assembly of the ASOSSshown in FIG. 1, in accordance with various embodiments;

FIG. 3A is an isometric view of a multi-receptacle collection tableremovably coupled to an X-Y stage of the ASOSS shown in FIG. 1, inaccordance with various embodiments;

FIG. 3B is an isometric view of an indexing tray removably coupled to anX-Y stage of the ASOSS shown in FIG. 1, in accordance with various otherembodiments;

FIG. 3C is an isometric view of a planter tray removably coupled to anX-Y stage of the ASOSS shown in FIG. 1, in accordance with yet othervarious embodiments;

FIG. 4 is a side view of the ASOSS shown in FIG. 1 with a portion of anupper main frame and extraction assembly chassis cut away to illustratea transfer funnel of the ASSOS, in accordance with various embodiments,

FIG. 5 is a top view of the ASOSS shown in FIG. 1 illustrating adisposition end of the transfer funnel, in accordance with variousembodiments;

FIG. 6 is an isometric view of a nozzle array of the ASOSS shown in FIG.1, in accordance with various embodiments;

FIG. 7 is an isometric view of a rotary indexing table of the ASOSSshown in FIG. 1, in accordance with various embodiments;

FIG. 8 is an isometric view of a staged indexing table of the ASOSSshown in FIG. 1, in accordance with various embodiments;

FIG. 9 is a sectional view of one of a plurality of vacuum nozzlesincluded in a nozzle array of the ASOSS shown in FIG. 1, in accordancewith various embodiments;

FIG. 10 is a block diagram of a master control system of the ASOSS shownin FIG. 1, in accordance with various embodiments; and

FIG. 11 is an isometric view of an object sorting tray of the ASOSSshown in FIG. 1, in accordance with various embodiments;

Corresponding reference numerals indicate corresponding parts throughoutthe several views of drawings.

DETAILED DESCRIPTION

The following description is merely exemplary in nature and is in no wayintended to limit the present teachings, application, or uses.Throughout this specification, like reference numerals will be used torefer to like elements.

Referring to FIG. 1, an automated small object sorting system (ASOSS) 10is provided for automatically, i.e., robotically, sorting small objectsand depositing the sorted objects into selected repositories based onparticular genotypes or attributes of each sorted object, e.g.,characteristics and/or traits such as size, shape, color, composition,quality, weight, genetic traits, etc. The objects can be any smallobjects, items, parts or products that are desired to be sorted orseparated based on particular attributes of each sorted object. Forexample, the ASOSS 10 can be utilized to sort such small objects such asseeds and other agricultural products, pharmaceutical tablets orcapsules, small electrical components, ball bearing, small foodproducts, etc.

Generally, the ASOSS 10 includes an automated, or robotic, objectextraction assembly 12, an air preparation unit 14, an automated, orrobotic, object collection assembly 18, a transfer funnel 20 and acomputer based master control system (MCS) 22. The transfer funnel isoperational to transfer sorted objects from the extraction assembly 12to the collection assembly 18 and the computer based MCS 22 operates tocontrol the automation, i.e., robotic operation, of the ASOSS 10.

Referring also to FIG. 2, in various embodiments, the automated objectextraction assembly 12 includes an automated, moveable indexing table24, an offloading subassembly 26 (shown in FIG. 1) and a bank 28 ofregulators 30. Generally, the indexing table is used to support andretain one or more object sorting trays 32 that include a plurality ofwells 34, wherein each well 34 is structured to retain a single one ofthe small objects to be sorted. For simplicity and clarity the one ormore object sorting trays 32 will be referred to herein as simply theobject sorting tray 32. The offloading subassembly 26 operates under thecontrol of the MCS 22 to extract one or more of the objects in thesorting tray wells 32. More particularly, the MCS 22 controls theoperation of the regulators 30 that provide, monitor, condition and/ormodulate command signals and vacuum pressures to the offloadingsubassembly 26.

In various embodiments, the offloading subassembly 26 includes at leastone nozzle array 36 detachably and interchangeably mounted to a headunit 38. The nozzle array 36 includes a plurality of object extractionnozzles 40 (best illustrated in FIG. 6) geometrically arranged withinthe nozzle array 36 such that the spacing between adjacent nozzles 40corresponds with the spacing between adjacent wells 34 of the sortingtray(s) 32. The nozzle array 36 is removably connected to the head unit38 utilizing any suitable fastening device that will allow the nozzlearray 36 to be easily attached to and detached from the head unit 38.For example, the nozzle array 36 can be removably connected to the headunit 38 utilizing locking pins, biased clamps or latches, thumb screws,wing nuts and bolts or any other suitable fastener. Therefore, a firstnozzle array 36 having a certain number of nozzles 40, e.g., twelve, ofa specific size and spacing, can be easily removed and replaced, i.e.,interchanged, with a second nozzle array 36 having a different number ofnozzles 40, e.g., twenty-four, of a different specific size and spacing.The head unit 38 is communicatively connected to at least one regulator30 in the bank 28 of regulators 30.

The one or more regulators 30 communicatively connected to the head unit38 will simply be referred to herein as the head unit regulator 30. Thehead unit regulator 30 provides command signals to the head unit 38, viaat least one signal transmission line 41, to three-dimensionally movethe nozzle array 36 within an X-Y-Z coordinate system above the indexingtable 24. As most clearly illustrated in FIG. 2, the head unit 38includes a Z-axis transition device 42 controlled by the head unitregulator 30 and MCS 22 to transition the nozzle array 36 up and downalong the Z-axis. The head unit 38 additionally includes a Y-axistransition device 46 controlled by the head unit regulator 30 and MCS 22to transition the nozzle array 36 back and forth along the Y-axis. The Zand Y-axis transition devices 42 and 46 can be any devices suitable toindependently or simultaneously move the nozzle array 36 along therespective Z and Y axes of the X-Y-Z coordinated system above theindexing table 24. For example, the Z and Y-axis transition devices 42and 46 can be pneumatically, hydraulically or electrically operatedpistons or solenoids.

The head unit 38 further includes a base 50 moveably mounted to anX-axis stage 54 such that the head unit 38 can be moved side-to-sidealong the X-axis. In various embodiments, the head unit 38 isautomatically, or robotically, controlled by the head unit regulator 30and MCS 22 to transition the nozzle array 36 along the X-axis stage 54above the indexing table 24. For example, the head unit base 50 canrobotically move, as controlled by the MCS 22, along tracks of theX-axis stage 54 utilizing a pneumatically, hydraulically or electricallycontrolled threaded shaft system, wire or cable pulley system, pistonsystem, or any other suitable positioning system within the X-axis stage54. In various other embodiments, the head unit 38 is manually moveablealong the X-axis stage 54. For example, the head unit base 50 can slidealong tracks of the X-axis stage 54 and be held in position using handadjustable locking devices such as clamps, wing nuts and bolts, or pins.

In various embodiments, the head unit regulator 30 is a pneumaticregulating device that provides pneumatic command signals to the headunit 38 over one or more pneumatic signal transmission lines 41, i.e.,pneumatic flex tubes. The head unit pneumatic regulator 30 regulates thepneumatic command signals e.g., vacuum and/or expansion pressuresignals, sent to the head unit 38 via the pneumatic flex tube.Particularly, as controlled by the MCS 22, the head unit pneumaticregulator 30 provides, monitors, conditions and/or modulates thepneumatic command signals sent to the head unit 38. The pneumaticcommand signals control the operation of the Z and Y-axis transitiondevices 42 and 46, and in some embodiments, the X-axis stage 54, totwo-dimensionally or three-dimensionally move the nozzle array 36 withinthe X-Y-Z coordinate system. In such pneumatic embodiments, the ASOSS 10is connected to a vacuum source (not shown). The vacuum source can beincluded in the ASSOS 10 or remotely located from the ASOSS 10. That is,the vacuum source can be located within the structure of the ASOSS 10 orthe ASSOS 10 can be connected to a vacuum source located remotely fromthe ASOSS 10. In various pneumatic embodiments, the pneumatic signalsare generated by the air preparation unit 14.

Referring now to FIG. 1, the air preparation unit 14 generally includesa ballast tank 56 and an air filter 57. The ballast tank 56 stores airprovided by the vacuum source to aid in the regulation of the variouspneumatic signals used to operate the ASOSS 10, as described herein, andassist in providing a constant, steady air supply to the variouscomponents and assemblies of the ASOSS 10. The air filter 57 filters theair provided by the ballast tank 65 to the various components andassemblies of the ASOSS 10. For example, air provided by the airpreparation unit 14, to generate vacuum pressures communicated to theregulators 30 that operate the nozzles 40, as described below, isregulated, conditioned and filtered by the ballast tank 56 and the airfilter 57.

Referring again to FIG. 2, in various other embodiments, the head unitregulator 30 can command movement of the nozzle array 36 using any othersuitable command signal and corresponding signal transmission line(s)41. For example, the head unit regulator 30 can command movement of thenozzle array 36 using electronic signals, wireless (e.g.,electromagnetic) signals, hydraulic signals, optical signals or anyother suitable command signals. For simplicity and clarity not allsignal transmission lines 41 are shown in FIG. 2. More particularly, itwill be recognized that the various figures described herein do notillustrate each and every component and/or part of the ASOSS 10. Certaincomponents and/or parts, e.g., the head unit signal transmission line(s)41, are not illustrated in the various figures in order to reveal other,more important, components and/or parts to simplify the illustration andallow for a better understanding of how the ASOSS 10 is constructed andoperates.

Referring particularly to FIGS. 1 and 3, in various embodiments, theautomated collection assembly 18 includes a collection assembly platform58 and a collection assembly X-Y stage 60. The collection assemblyplatform 58 is connected to the collection assembly X-Y stage 60. TheX-Y stage is controllable by the MCS 22 to automatically, orrobotically, move the collection assembly platform 58 within the X-Yplane of the X-Y-Z coordinate system. The collection assembly platform58 is structured to removably retain a receptacle retention apparatus 62configured to include or retain a plurality of receptacles 61 adapted toreceive and retain objects transferred from the extraction assembly 12to the collection assembly 18, via the transfer funnel 20, as describedbelow. The collection assembly X-Y stage 60 includes a Y-axis transport64 and an X-axis transport 66. The Y-axis transport 64 is automatically,or robotically controllable by the MCS 22 to move the collectionassembly platform 58 along the Y-axis of the X-Y-Z coordinate system.Thus, under the control of the MCS 22, the collection assembly platform58 and associated receptacle retention apparatus 62 can be automaticallypositioned anywhere along the length of the Y-axis transport 64.Additionally, the Y-axis transport 64 is movably connected to the X-axistransport 66 of the collection assembly X-Y stage 60. Under the controlof the MCS 22, the Y-axis transport 64, the collection assembly platform58 and associated receptacle retention apparatus 62 can be automaticallypositioned anywhere along the length of the X-axis transport 66.Therefore, receptacle retention apparatus 62 can be automatically, orrobotically, moved in the X and/or Y directions to position any desiredportion or section of the receptacle retention apparatus 62substantially adjacent the transfer funnel to receive one or moreobjects extracted from the sorting tray 32 by the extraction assembly12, as described further below.

Referring now to FIG. 3A, in various embodiments the receptacleretention apparatus 62 can be a multi-receptacle collection table 62Aremovably positioned on, or connected to, the collection assemblyplatform 58. The multi-receptacle collection table 62A includes aplurality of bins 68 structured to retain a plurality of the collectionreceptacles 61A. The collection receptacles 61A can be any type ofcollection devices, apparatus or structures suitable for receivingobjects extracted from the sorting tray 32 by the offloading subassembly26 and deposited into the transfer funnel 20. For example, thecollection receptacles 61A can comprise envelopes, containers, tubes,cups, boxes or any other vessel suitable for receiving and retainingobjects transferred from the extraction assembly 12 to the collectionreceptacles 61A, via the transfer funnel 20.

Referring to FIG. 3B, in various other embodiments the receptacleretention apparatus 62 can be a multi-reservoir indexing tray 62Bremovably positioned on, or connected to, the collection assemblyplatform 58 and the receptacles 61 can be a plurality of objectreservoirs 61B included in the multi-reservoir indexing tray 62B. Theplurality of object reservoirs 61B are structured to receive and retainobjects extracted from the sorting tray 32 by the offloading subassembly26 and deposited into the transfer funnel 20.

Referring to FIG. 3C, in various embodiments wherein the objects to besorted are agricultural products such as seeds, the receptacle retentionapparatus 62 can be a multi-container planter tray 62C removablypositioned on, or connected to, the collection assembly platform 58.Additionally, the receptacle 61 can comprise one or more plantingcontainers 61C. The multi-container planter tray 62C includes aplurality of the planting containers 61C that can contain soil or otherorganic compound. Therefore, seeds extracted from the sorting tray 32 bythe offloading subassembly 26 and deposited into the transfer funnel 20can be automatically deposited into the planting containers 61C filledwith soil or other organic compound.

Referring now to FIGS. 1, 2 and 3, to properly locate and position theextraction assembly 12, transfer funnel 20 and collection assembly 18with respect to each other, the extraction assembly 12, the collectionassembly 18 and the transfer funnel 20 are connected, or mounted, to anASOSS framework structure 72 (generally indicated in FIG. 1). In variousembodiments, the extraction assembly 12 is generally mounted to an uppermain frame 74 and an extraction assembly chassis 78 mounted to the uppermain frame 74, as best illustrated in FIG. 2. Similarly, the collectionassembly 18 is generally mounted to a lower main frame 82 and acollection assembly chassis 86 mounted to the lower main frame 82, asbest illustrated in FIGS. 1 and 3. The MCS 22 can be mounted to theASOSS framework structure 72, for example, mounted to a head framestructure 90, best shown in FIG. 1, or located separately from ASOSSframework structure 72. In various embodiments, the ASOSS 10 issubstantially stationary such that it is relatively fixed in onelocation. In various other embodiments, as illustrated in FIG. 1, theframework structure 72 of ASOSS 10 can include wheels 94 such that theASOSS 10 is portable and can be easily moved from one location toanother.

In various embodiments, the collection assembly X-Y stage 66,particularly the X and Y-axis transports 66 and 64, are eachcommunicatively connected to at least one regulator 30 in the bank 28 ofregulators 30. The regulators 30 communicatively connected to thecollection assembly X-Y stage 66 will simply be referred to herein asthe collection assembly stage regulators 30. As controlled by the MCS22, the collection assembly stage regulators 30 provide command signalsto the X and Y-axis transports 66 and 64, via signal transmission lines41 to two-dimensionally move the collection assembly platform 58 andreceptacle retention apparatus 62 within the X-Y plane of the X-Y-Zcoordinate system below the extraction assembly 12.

The collection assembly platform 58 and receptacle retention apparatus62 are transitioned along the Y-axis transport 64 using any suitablesystem, device or apparatus. For example, the collection assemblyplatform 58 and receptacle retention apparatus 62 can be roboticallytransitioned, as controlled by the MCS 22, along the Y-axis transport 64utilizing a pneumatically, hydraulically or electrically controlledthreaded shaft system, wire or cable pulley system, piston system or anyother suitable positioning system within the Y-axis transport 64.Similarly, the Y-axis transport 64, collection assembly platform 58 andreceptacle retention apparatus 62 are transitioned along the X-axistransport 66 using any suitable system, device or apparatus. Forexample, the Y-axis transport 64, collection assembly platform 58 andreceptacle retention apparatus 62 can be robotically transitioned, ascontrolled by the MCS 22, along the X-axis transport 66 utilizing apneumatically, hydraulically or electrically controlled threaded shaftsystem, wire or cable pulley system, piston system or any other suitablepositioning system within the X-axis transport 66.

In various embodiments, the collection assembly stage regulators 30 arepneumatic regulating devices that provide pneumatic command signals tothe X and Y transports 66 and 64 via the pneumatic signal transmissionlines, i.e., pneumatic flex tubes. The collection assembly stageregulators 30 regulate the pneumatic command signals e.g., vacuum and/orexpansion pressure signals, sent to the X and Y transports 66 and 64 viathe pneumatic flex tube. Particularly, the collection assembly stageregulators 30 provide, monitor, condition and/or modulate the pneumaticcommand signals sent to the X and Y transports 66 and 64, i.e., thecollection assembly X-Y stage 66. The pneumatic command signals controlthe operation of the X and Y transports 66 and 64 to two-dimensionallymove the collection assembly platform 58 within the X-Y plane of theX-Y-Z coordinate system.

In various other embodiments, the collection assembly stage regulators30 can command movement of the collection assembly X-Y stage 66 usingany other suitable command signal and corresponding signal transmissionline(s). For example, the collection assembly stage regulators 30 cancommand movement of the collection assembly X-Y stage 66 usingelectronic signals, wireless (e.g., electromagnetic) signals, hydraulicsignals, optical signals or any other suitable command signals. Forsimplicity and clarity the signal transmission line(s) are not shown.

Referring now to FIGS. 4 and 5, the transfer funnel 20 includes areception end 98 substantially adjacent the nozzle array 36 structuredto receive the one or more objects extracted from the object tray 32 bythe offloading subassembly 26. Once the objects are placed in thereception end 98, the objects are funneled through the transfer funnelto a disposition end 102 of the transfer funnel 20. The disposition end102 is substantially adjacent the receptacle retention apparatus 62.More particularly, the disposition end 102 of the transfer funnel 20 issubstantially adjacent a specific one of the collection receptacles 61retained within the bins 68 that has been robotically positionedsubstantially adjacent the disposition end 102, via the collectionassembly X-Y stage, as commanded by the MCS 22. The transfer funnel 20can transfer the one or more objects from the reception end 98 to thedisposition end 102 using any suitable means of conveyance. For example,in various embodiments, as shown in FIG. 4, the transfer funnel canutilize gravitational forces to transfer the one or more objects fromthe reception end 98 to the disposition end 102. In such embodiments,the nozzle array 36 would drop the selected one or more objectsextracted from the object tray 32 by the nozzle array 36 into thereception end 98 of the transfer funnel 20. Gravitational forces causethe one or more objects to travel through the transfer funnel 20 and bedirected by the transfer funnel 20 into a specific one of thereceptacles 61 retained within the bins 68 that has been roboticallypositioned substantially adjacent the disposition end 102, via thecollection assembly X-Y stage, as commanded by the MCS 22.

Although FIGS. 4 and 5 illustrate the transfer funnel 20 structured toutilize gravitational forces to transfer the one or more objects fromthe reception end 98 to the disposition end 102, other means ofconveyance are envisioned and within the scope of the presentdisclosure. In various embodiments, the ASOSS 10 can implementmechanically generated forces to convey or transfer the one or moreobjects from the reception end 98 to the disposition end 102. Forexample, the ASOSS 10 can utilize pulsed or forced air to ‘blow’ the oneor more objects from the reception end 98 to the disposition end 102.Alternatively, the ASOSS 10 can utilize suction or vacuum forces to‘draw’ the one or more objects from the reception end 98 to thedisposition end 102. Or, the ASOSS 10 can utilize any suitablemechanical conveyor system to ‘transport’ the one or more objects fromthe reception end 98 to the disposition end 102.

Referring particularly to FIG. 5, the transfer funnel 20 can include oneor more internal passages 104 that direct the one or more objects fromthe reception end 98 to the disposition end 102. For example, asillustrated in FIG. 5, the transfer funnel 20 can include two internalpassages 104 that reduce the amount of automated movement needed by thecollection assembly X-Y stage 66 to position the automatically selectedreceptacle substantially adjacent the disposition end 102 of thetransfer funnel 20. For example, if the receptacle retention apparatus62 were considered to be divided into two halves, such as a left sideand a right side, the receptacles 61 residing in the bins 68 on the leftside of the receptacle retention apparatus 62 would receive objectsdeposited into the ‘left side’ transfer funnel internal passage 104.Conversely, the receptacles 61 residing in the bins 68 on the right sideof the receptacle retention apparatus 62 would receive objects depositedinto the ‘right side’ transfer funnel internal passage 104. Accordingly,the collection assembly X-Y stage 66 only needs to move distances in theX and Y direction sufficient to position the ‘left side’ receptacles 61substantially adjacent the ‘left side’ internal passage 104, and the‘right side’ receptacles 61 substantially adjacent the ‘right side’internal passage 104. The terms ‘left side’ and ‘right side’ are merelyexemplary and are not intended to limit the scope of the presentdisclosure. Other exemplary terms such as ‘front side’ and ‘back side’,‘forward’ and ‘aft’ and ‘first side’ and ‘opposing second side’ couldalso be used and remain within the scope of the present disclosure.

In various other embodiments, the ASOSS 10 is structured such that thetransfer funnel 20 is mounted to a positioning device, similar to thenozzle array head unit 38 or the collection assembly X-Y stage 66, toposition, or assist in positioning, the particular receptacle, asselected by the MCS 22, substantially adjacent the disposition end 102of the transfer funnel 20.

Referring to FIGS. 2 and 6, each of the nozzles 40 of the nozzle array36 are communicatively connected to at least one regulator 30 in theregulator bank 28. The regulators 30 communicatively connected to thenozzles 40 will simply be referred to herein as the nozzle regulators30. As controlled by the MCS 22, the nozzle regulators 30 provide vacuumsignals to each of the nozzles 40, via signal transmission lines 41, toactivate the nozzles 40, as described below. More particularly, thenozzle regulators 30 are vacuum pressure regulators that monitor,condition and/or modulate vacuum signals communicated to each of thenozzles 40 via the signal transmission lines 41, i.e., vacuum flex lines41. Generally, the nozzle regulators 30 include switches, valves, andsensors to control and regulate the vacuum pressure for each nozzle 40.

In various embodiments, the air supply and ballast tank 56 are used togenerate the vacuum pressures, i.e., vacuum signals, regulated andcommunicated to the nozzles 40 by the nozzle regulators 30. As set forthabove, for simplicity and clarity, not all signal transmission lines 41are shown in the various figures. Thus, although it should be understoodthat each nozzle 40 shown in FIGS. 2 and 6 is communicatively connectedto at least one nozzle regulator 30 via a vacuum flex line 41, forsimplicity and clarity, only a single vacuum flex line 41 is illustratedin FIG. 6.

Referring to FIG. 7, in various embodiments, the automated, moveableindexing table 24 includes at least one sorting tray retention device106 that holds, or retains, the one or more sorting trays 32 in positionon the indexing table 24 during operation of the ASOSS 10. The sortingtray retention device(s) 106 can be any retention device suitable tosubstantially fixedly hold the sorting tray(s) 32 in position on theindexing table 24 while the offloading subassembly 26 extracts selectedobjects from the sorting tray(s) 32, as described below. Additionally,the retention device(s) 106 can be manually operated or automaticallyoperated by the MCS 22. For example, the retention device(s) 106 can beone or more manually operated thumb screws, clamps, latches, snaps,magnetic clasps, pins or biased levers. Alternatively, the retentiondevice(s) 106 can be one or more pneumatic, hydraulic or electricallydriven clamps, latches or levers controlled by the MCS 22. In variousembodiments, as illustrated in FIG. 7, each retention device(s) 106 is arobotically operated lever device, controlled by the MCS 22 to exert aforce on at least one side of the respective sorting tray 32 sufficientto substantially fixedly retain the sorting tray 32 against a pluralityof retention pins 110 connected to the indexing table 24.

In various embodiments, the automated, moveable indexing table 24 is arotary indexing table 24 adapted to rotate, or pivot, within the X-Yplane of the X-Y-Z coordinate system such that opposing ends of theindexing table 24 can be alternately positioned under the nozzle array36, as controlled by the MCS 22. Accordingly, the offloading subassembly26 can be extracting objects from a sorting tray 32 supported at one endof the rotary indexing table 24 while a second loaded sorting tray 32 issubstantially simultaneously being positioned on the opposing end of therotary indexing table 24. Any suitable rotary drive device 114,controllable by the MCS 22, can be utilized to rotate, or pivot, therotary indexing table 24. For example, the rotary drive device 114 canbe a pneumatically, hydraulically, or electrically driven rotary drivedevice or motor controllable by the MCS 22. The MCS 22 controls rotationof the rotary indexing table 24 to selectively position, i.e., rotateand stop, either end of the rotary indexing table 24 at any point alonga 360° circumference of rotation.

In various embodiments, the MCS 22 rotates the rotary indexing table 24such that a loaded sorting tray 32, i.e., a sorting tray 32 having anobject retained within some or all the wells 34, is positioned under thenozzle array 36 and above the transfer funnel 20. Then, as describedfurther below, the MCS 22 commands the head unit 38 to lower the nozzlearray 36 such that a tip 118 of each nozzle 40 (best illustrated in FIG.6) is inserted into a corresponding well 34 of the sorting tray 32. TheMCS 22 then commands one or more selected nozzle regulators 30 tocommunicate a vacuum pressure, i.e., suction, at the tip 118 of at leastone of the nozzles 40. More specifically, one, some or all of thenozzles 40 can be activated by the MCS 22, i.e., provided with a vacuumpressure at the respective tip 118. Utilizing the vacuum pressure, theselected nozzles 40 capture, i.e., grasp, and retain one or moreselected objects in corresponding wells 34 of the sorting tray 32. Morespecifically, one, some or all of the objects in the corresponding wells34 can be captured and retained by the nozzle array 36. The MCS 22controls the operation of the nozzle regulators 30 such that the vacuumpressure provided at the tip 118 of each nozzle 40 is modulated to exertsufficient force to capture the respective object without damaging therespective object. The MCS 22 then commands the head unit 38 to lift, orraise, the nozzle array 36, thereby extracting the selected objects fromthe object sorting tray 32. The MCS 22 then rotates the rotary indexingtable 24 to move the end of the rotary indexing table 24 and the sortingtray 32 being offloaded sufficiently out of the way, e.g., approximately90°, to provide an unobstructed path between the nozzle array 36 and thetransfer funnel reception end 98.

The MCS 22 then commands selected ones of the activated nozzles 40 todeactivate, i.e., terminate the vacuum pressure supplied to selectedactivated nozzles 40, thereby releasing the respective object(s) intothe reception end 98 of the transfer funnel 20. In various embodiments,before releasing the object(s), the MCS 22 commands the head unit 38 tomove the nozzle array 36 toward the transfer funnel 20. Prior toreleasing the selected extracted objects, the MCS 22 commands thecollection assembly X-Y stage 66 to position a selected one of thereceptacles 61 retained in the receptacle retention apparatus 62adjacent, e.g., under, the disposition end 102 of the transfer funnel20. Thus, the selected extracted object(s) is/are deposited in aselected receptacle 61. Furthermore, the selected extracted object(s)is/are deposited in the selected receptacle(s) 61 based on the specificattributes of the selected extracted object(s).

More particularly, the MCS 22 deactivates one, some or all of thenozzles 40 to release one, some or all the extracted objects into thereception end 98 of the transfer funnel 20. If not all the extractedobjects are to be released and deposited into one selected receptacle,the MCS 22 will command the offloading subassembly 26 to releaseselected ones of the extracted objects into a selected receptacle, asdescribed above. The MCS 22 will then command the collection assemblyX-Y stage 66 to position a second selected receptacle adjacent thedisposition end 102 of the transfer funnel 20 and release at least oneof the remaining extracted objects. Thus, the at least one extractedobject remaining after the first disposition of selected extractedobjects will be deposited into the second selected receptacle, based onthe specific attributes of the selected extracted object(s). The MCS 22will continue to reposition the collection assembly X-Y stage 66, andselectively release and deposit the remaining extracted objects inselected receptacles 61 based on the attributes of each extractedobject.

Furthermore, as described above, one, some or all of the objects in thesorting tray 32 can be extracted at one time. If not all the objects inthe sorting tray 32 are extracted during the first extraction process,but it is desired to selectively extract and deposit other objectsremaining in the sorting tray 32, the MCS 22 will command repetition ofthe offloading process, as described above. That is, once the offloadingsubassembly 26 selectively releases all the objects extracted during afirst extraction process, the MCS 22 will rotate the rotary indexingtable 24 to reposition the sorting tray 32 under the nozzle array 36.The MCS 22 with then command a second selective extraction anddisposition of other objects in the sorting tray 32 in the same manneras described above. The MCS 22 will continue to command subsequentselective extraction and disposition processes until all the desiredobjects in the sorting tray 32 have been selectively extracted anddeposited into selected receptacles 61 based on the attributes of therespective selected objects.

Furthermore, depending on the number of wells 34 in the sorting tray 32being offloaded and the corresponding number of nozzles 40 in the nozzlearray 36, the MCS 22 can reposition the nozzle array 36 to selectivelyextract all the desired objects in the respective sorting tray 32 anddeposit the extracted objects into selected receptacles 61. Moreparticularly, if the number of wells 34 in the sorting tray 32 isgreater than the number of nozzles 40 in the nozzle array 36, the MCS 22will command the head unit 38 to reposition the nozzle array 36 in the Xand/or Y direction during subsequent extraction processes. For example,if the sorting tray 32 includes forty-eight wells 34, but the nozzlearray 36 only includes twelve nozzles 40, then initially, when thesorting tray 32 is positioned under the nozzle array 36, only twelve ofthe wells 34 will align with a respective one of the twelve nozzles 40.Thus, after the offloading subassembly 26 selectively extracts anddeposits the selected ones of the twelve ‘aligned’ objects, the MCS 22will move the nozzle array 36 along the X and/or Y-axis to align thetwelve nozzles 40 with a second set of twelve wells 34. The MCS 22commands repetition of the offloading and nozzle array realignmentprocess until all desired objects in the forty-eight wells 34 have beendeposited in the selected receptacles 61 based on the attributes of therespective selected objects.

Referring to FIG. 8, in various embodiments, the automated, moveableindexing table 24 is a staged indexing table 24 mounted to an indexingtable X-Y stage 122 adapted to move the staged indexing table 24 withinthe X-Y plane of the X-Y-Z coordinate system. The staged indexing table24 is suitable for supporting and retaining one or more sorting trays32. The sorting tray(s) 32 can be retained on the staged indexing table24 using any suitable retention device, as described above.

Similar to the collection assembly X-Y stage 60 described above, theindexing table X-Y stage 122 includes a Y-axis transport 124 and anX-axis transport 126. The Y-axis transport 124 is automatically, orrobotically controllable by the MCS 22 to move the indexing table 24along the Y-axis of the X-Y-Z coordinate system. Thus, under the controlof the MCS 22, the indexing table 24 and associated sorting tray(s) 32can be automatically positioned anywhere along the length of the Y-axistransport 124. Additionally, the Y-axis transport 124 is movablyconnected to the X-axis transport 126 of the indexing table X-Y stage122. Under the control of the MCS 22, the Y-axis transport 124, theindexing table 24 and associated sorting tray(s) 32 can be automaticallypositioned anywhere along the length of the X-axis transport 126. Thestaged indexing table 24 can robotically move, as controlled by the MCS22, along tracks of the X-axis transport 126 and the Y-axis transport124 utilizing a pneumatically, hydraulically or electrically controlledthreaded shaft system, wire or cable pulley system, piston system, orany other suitable positioning system within the X-axis stage 54. Thus,in combination with movement of the nozzle array 36 within the X-Yplane, the sorting tray(s) 32 can be automatically, or robotically,moved in the X and/or Y directions to position any well 34 of thesorting tray(s) 32 under at least one nozzle 40 of the nozzle array 36to capture and extract the objects from within all the wells 34.

More particularly, the MCS 22 robotically controls movement of thestaged indexing table 24 and the nozzle array 36 within the respectiveX-Y planes to selectively position any and all the sorting tray wells 34to be offloaded by the offloading subassembly 26. Once the stagedindexing table 24 and the nozzle array 36 have been moved within therespective X-Y planes to position the nozzle array 36 above the selectedwells 34, the MCS 22 commands the head unit 38 to lower the nozzle array36 such that the tip 118 of each nozzle 40 is inserted into acorresponding well 34. The MCS 22 then commands one or more selectednozzle regulators 30 to communicate a vacuum pressure, i.e., suction, atthe tip 118 of at least one of the nozzles 40.

More specifically, one, some or all of the nozzles 40 can be activatedby the MCS 22, i.e., provided with a vacuum pressure at the respectivetip 118. As described above, the vacuum pressure is utilized by theselected nozzles 40 to capture, i.e., grasp, and retain one or moreselected objects in corresponding wells 34. More specifically, one, someor all of the objects in the corresponding wells 34 can be captured andretained by the nozzle array 36. The MCS 22 then commands the head unit38 to extract the selected objects from the object sorting tray 32. TheMCS 22 then moves the staged indexing table 24 to provide anunobstructed path between the nozzle array 36 and the transfer funnelreception end 98.

As described above, the MCS 22 then commands the nozzle array 36 torelease selected ones of the extracted objects into the reception end 98of the transfer funnel 20. Also, as described above, prior to releasingthe selected extracted objects, the MCS 22 commands the collectionassembly X-Y stage 66 to position a selected one of the receptacles 61adjacent, e.g., under, the disposition end 102 of the transfer funnel 20to deposit the selected extracted object(s) in a selected receptacle.The selected extracted object(s) is/are deposited in the selectedreceptacle(s) 61 based on the specific attributes of the selectedextracted object(s).

If not all the extracted objects are to be released and deposited intoone selected receptacle, the MCS 22 will command the collection assemblyX-Y stage 66 to position a second selected receptacle adjacent thedisposition end 102 of the transfer funnel 20 and release at least oneof the remaining extracted objects. Thus, the at least one extractedobject remaining after the first disposition of selected extractedobjects will be deposited into the second selected receptacle, based onthe specific attributes of the selected extracted object(s). The MCS 22will continue to reposition the collection assembly X-Y stage 66, andselectively release and deposit the remaining extracted objects inselected receptacles 61 based on the attributes of each extractedobject.

If not all the objects in the sorting tray 32 are extracted during thefirst extraction process, but it is desired to selectively extract anddeposit other objects remaining in the sorting tray 32, the MCS 22 willcommand repetition of the offloading process, as described above. Thatis, once the offloading subassembly 26 selectively releases all theobjects extracted during a first extraction process, the MCS 22 willreposition the staged indexing table 24 and/or the nozzle array 36 toreposition the sorting tray 32 under the nozzle array 36. The MCS 22will then command a second selective extraction and disposition of otherobjects in the sorting tray 32 in the same manner as described above.The MCS 22 will continue to command subsequent selective extraction anddisposition processes until all the desired objects in the sorting tray32 have been selectively extracted and deposited into selectedreceptacles 61 based on the attributes of the respective selectedobjects.

Referring to FIGS. 7 and 8, in various embodiments, the extractionassembly 12 includes an indexing table home sensor 128 communicativelyconnected to the MCS 22. The indexing table home sensor 128 senses whenthe indexing table 24 is in a home, or start, position. When theindexing table 24 is in the home position, the rotary table ispositioned in a desired position for initialization of ASOSS 10operation. For example, when the rotary indexing table 24 of FIG. 7 isin the home position, the rotary indexing table 24 is positioned suchthat one end of the rotary indexing table 24 is positioned under thenozzle array 36 and the opposing end is positioned to be accessible forplacing, or loading, a sorting tray 32 thereon. Alternatively, when thestaged indexing table 24 of FIG. 8 is in the home position, the stagedindexing table 24 is positioned such that a center of the stagedindexing table 24 is approximately positioned at center of the indexingtable X-Y stage 122. Upon initialization of ASOSS 10 operation, the homesensor 128 determines whether the rotary indexing table 24 is in thehome position. If the rotary indexing table 24 is sensed to be away fromthe home position, the MCS 22 will reposition the indexing table 24 tothe home position.

Additionally, in various embodiments, the extraction assembly can beutilized to relocate or ‘re-map’ objects within the sorting tray 32.That is, the offloading subassembly 26 can capture and extract one ormore objects from the respective sorting tray wells 34, as describedabove, and relocate, i.e., deposit, the extracted objects to other wells34 within the sorting tray 32.

Referring now to FIG. 9, as described above, the nozzle array 36comprises a plurality of vacuum operated nozzles 40. Generally, eachnozzle 40 includes a tubular body 130 having an internal passage 134defined therewithin. Each nozzle 40 additionally includes a connectorcap 138 affixed to, or formed with, a proximal end of the body 130 andhaving an internal cavity 142 communicatively open to and aligned withthe internal passage 134. The connector cap 138 is structured to allowthe vacuum flex lines 41 to be removably connected to each respectivenozzle connector cap 138. For example, each connector cap 138 can havean annular locking channel 146 around the outside wall of the connectorcap 138. Each annular locking channel 146 is structured to receive andlockingly engage an annular slip ring (not shown) of each respectivevacuum flex line 134. Therefore, vacuum pressure provided by therespective nozzle regulators 30 is communicated through the respectivevacuum flex line 41, the connector cap internal cavity 142 and thenozzle body internal passage 134 to the tip 118 of each respectivenozzle 118. More particularly, the vacuum pressure provided at the tip118 of each nozzle 40 is controlled by at least one respective nozzleregulator 30 that includes switches, valves, and sensors to control andregulate the vacuum pressure at nozzle tip 118 so as to not damage thecaptured object.

Additionally, in various embodiments, each nozzle tip 118 is customizedto optimize handling of each object as it is extracted from the sortingtray 32 and deposited in a receptacle 61 of the receptacle retentionapparatus 62. For example, in various embodiments, each tip 118 isstructured or formed to accommodate the shape of the wells 34 of thesorting tray 32. For example, if the wells 34 have a shallow, rounded,concave shape, the tip 118 is structured or formed to have wider roundedconvex shape such that the tip 118 operates more efficiently whencapturing and extracting an object from the wells 34. Alternatively, ifthe wells 34 have a deeper, cylindrical, flat bottom shape, the tip 118is structured or formed to have narrow, cylindrical shape with a flatdistal end, as shown in FIG. 8, such that the tip 118 operates moreefficiently when capturing and extracting an object from the wells 34.Additionally, in various embodiments, the nozzle tips 118 each include ascreen-like device 150 having a plurality of openings spaced apart suchthat the objects can be captured and extracted without damaging theobject. In various embodiments, the tips 118 are interchangeable to meetthe handling preferences or requirements of various different objects.

In various embodiments, each nozzle 40 further includes a pressuresensor 152 that senses and monitors the vacuum pressure at the tip 118.More particularly, the pressure sensor 152 communicates vacuum pressurereadings at the tip 118 of each nozzle 40 to the MCS 22. The MCS 22interprets the vacuum pressure readings at each nozzle tip 118 todetermine when an object has been successfully captured and extractedfrom a respective sorting tray well 34 and then also when each extractedobject has been released into the transfer funnel 20. For example, priorto capturing and extracting an object, the vacuum pressure at eachnozzle tip 118 is sensed to be approximately at a known ‘open tip’pressure. When each nozzle 40 of the nozzle array 36 is lowered into thecorresponding sorting tray wells 34, if an object resides in thecorresponding well, the force of the ‘open tip’ vacuum pressure willcapture the object into the respective nozzle tip 118 and hold theobject against the tip 118 and/or the screen-like device 150. Eachcaptured object will obstruct the flow of air through the respectivenozzle 40. The obstruction of air flow will alter the vacuum pressure atthe respective nozzle tip 118. The respective pressure sensor 152 willsense the change in vacuum pressure and communicate the changed pressurereadings to the MCS 22. The MCS 22 will interpret the change in vacuumpressure readings to indicate a ‘loaded tip’ pressure meaning therespective nozzle 40 has captured the respective object. Then, once theoffloading subassembly 26 releases the object into the transfer funnel20, as described above, the object will no longer obstruct the air flowthrough the nozzle 40 and the vacuum pressure at the nozzle tip 118 willreturn to the ‘open tip’ pressure. The respective pressure sensor 152will sense the change in vacuum pressure back to the ‘open tip’ pressureand the MCS 22 will interpret this change back to ‘open tip’ pressure toindicate that the respective object has been deposited into the selectedreceptacle 61.

Referring to FIG. 10, in various embodiments, the MCS 22 is a computerbased system that generally includes at least one processor 154 suitableto execute all functions of MCS 22 to automatically, or robotically,control the operation of the ASOSS 10, as described herein. The MCS 22additionally includes at least one electronic storage device 158 thatcomprises a computer readable medium, such as a hard drive or any otherelectronic data storage device for storing such things as softwarepackages or programs, algorithms and digital information, data, look-uptables, spreadsheets and databases. Furthermore, the MCS 22 includes adisplay 162 for displaying such things as information, data and/orgraphical representations, and at least one user interface device 164,such as a keyboard, mouse, stylus, or an interactive touch-screen on thedisplay 162. In various embodiments the MCS 22 further includes aremovable media reader 166 for reading information and data from and/orwriting information and data to removable electronic storage media suchas floppy disks, compact disks, DVD disks, zip disks, or any othercomputer readable removable and portable electronic storage media. Invarious embodiments the removable media reader 166 can be an I/O port ofthe MCS 22 utilized to read external or peripheral memory devices suchas thumb drives or external hard drives.

In various embodiments, the MCS 22, i.e., the processor 154, iscommunicatively connectable to a remote server network 170, e.g., alocal area network (LAN), via a wired or wireless link. Accordingly, theMCS 22 can communicate with the remote server network 170 to uploadand/or download data, information, algorithms, software programs, etc.,and/or receive ASOSS operational commands from the remote server network170. Additionally, in various embodiments, the MCS 22 is configured toaccess the Internet to upload and/or download data, information,algorithms, software programs, etc., to and from Internet sites andnetwork servers.

In various embodiments, the MCS 22 includes an objecting sortingsoftware program 172, stored on the storage device 158 and executed byprocessor 154 using inputs from the user interface 164 and variouscomponents, sensors, systems and assemblies of the ASOSS 10. Executionof object sorting program 172 controls the automated, or robotic,operation of the ASOSS 10.

Referring now to FIG. 11, as described above, each object sorting tray32 includes a plurality of wells 34 structured to retain a plurality ofobjects. Specifically, during operation of the ASOSS 10, some or all ofthe wells 34 will each have an object retained therein. Additionally,each sorting tray 32 includes a sorting tray identification device 174attached thereto. The identification device 174 identifies logistic dataregarding the respective sorting tray 32. The logistic data is generatedbased on the specific genotypes or attributes of each particular objectin each well 34, e.g., characteristics and/or traits such as size,shape, color, composition, quality, weight, genetic traits, etc. Morespecifically, in various embodiments, the logistic data includes dataand information specifically identifying each object residing in therespective sorting tray 32 based on the specific attributes of eachrespective object. Additionally, the logistic data includes dataidentifying the particular well 34 in which each identified objectresides. Furthermore, the logistic data includes data identifying thetype of receptacle retention apparatus 62 mounted on the collectionassembly platform 58 and location, e.g., the X and Y coordinates, ofeach receptacle 61 within the receptacle retention apparatus 62. Stillfurther yet, the logistic data includes data specifying which specificobject(s) residing in the particular sorting tray 32 are to be extractedand deposited into which specific receptacle(s) 61 of the particularreceptacle retention apparatus 62. The logistic data can be compiled inany suitable or desirable format, for example, the logistic data can becompiled into one or more electronic databases, spreadsheets and/orlook-up tables.

In various embodiments, the logistic data is downloaded to and stored onthe electronic storage device 158, such that during execution of theobject sorting program 172, by the processor 154, the logistic data isaccessed directly, or locally, from the electronic storage device 158and utilized to control operation of the ASOSS 10, as described herein.In other embodiments, the logistic data can be stored remotely, e.g., onthe remote server network 170 or a secure Internet site. Therefore,during execution of the object sorting program 172, the processor 154 isrequired to access the logistic data from the remote location or site tocontrol operation of the ASOSS 10, as described herein.

In yet other embodiments, the logistic data can be stored on a removableelectronic storage media, e.g., floppy disks, compact disks, DVD disks,zip disks, thumb drives, or any other computer readable removable andportable electronic storage media. Therefore, prior to execution of theobject sorting program 172 the removable storage media must be insertedor connected to the removable media reader 166. Accordingly, duringexecution of the object sorting program 172, the processor 154 isrequired to access the logistic data from the removable media reader 166to control operation of the ASOSS 10, as described herein. Therefore,during operation of the ASOSS 10, i.e., execution of the object sortingprogram 172, the processor 154 interprets the logistic data to determinewhich specific object(s), residing in the particular sorting tray 32presently supported on the indexing table 24, are to be extracted.Further, the processor 154 interprets the logistic data to determineinto which specific receptacle(s) 61, of the particular receptacleretention apparatus 62 mounted on the collection assembly platform 58,the selected objects are to be deposited. Based on these twodeterminations, the MCS 22, i.e., processor 154, automatically, orrobotically, controls the capturing, extraction and disposition of theselected objects in to the specified receptacles 61, as described above.

To initiate execution of the object sorting program 172, and operationof the ASOSS 10, the sorting tray identification, specified by thesorting tray identification device 174, must be input to the MCS 22.Then, based on the sorting tray identification information, theprocessor 154 accesses the logistic data articulating which specificobject(s) are to be deposited into which specific receptacle(s) 61.Then, based on the logistic data, the processor 154 controls operationof the ASOSS 10 to deposit the specified object(s) into the specifiedreceptacle(s) 61, as described above. The sorting tray identificationinformation is input to the MCS 22 using the user interface 164.

In various embodiments, the sorting tray identification device 174 isautomatically ‘read’, or interpreted, by the user interface 164 andautomatically input to the MCS 22. For example, in various embodiments,the sorting tray identification device 174 comprises a ‘bar code’ labeland the user interface 164 comprises any suitable bar code reader, e.g.,a hand held bar code reader. Thus, to initiate operation of the ASOSS10, a user or operator scans the bar code sorting tray identificationdevice 174 using the bar code reader user interface 164. The processor154 then interprets the sorting tray identification information providedby reading the bar code sorting tray identification device 174, accessesthe logistic data corresponding to the sorting tray identificationinformation, and controls the operation of the ASOSS 10 to extract anddeposit the selected object(s) as articulated by the logistic data.

In various other embodiments, the sorting tray identification device 174can comprise any other sort of ‘readable’ label and the user interface164 can comprise any suitable corresponding automated label reader. Forexample, the sorting tray identification device 174 can comprise amagnetic tag or a magnetic strip readable by a suitable magnetic tag orstrip reader user interface 164. Alternatively, the sorting trayidentification device 174 can comprise an electronic tag or devicereadable by a suitable electronic tag or device reader user interface164. In still other embodiments, the sorting tray identification device174 can comprise any other sort of human readable or interpretablelabel. In which case, the user or operator would read human readablesorting tray identification device 174 and manually input the sortingtray identification information directly into the MCS 22 using the userinterface 164, e.g., a keyboard, mouse, stylus or touch-screen display.

Referring again to FIG. 3A, 3B and 3C, in various embodiments, eachreceptacle 61 includes a receptacle identification tag 178 foridentifying the respective receptacle 61 and the selected object to bedeposited into the particular receptacle 61. More particularly, invarious embodiments, the receptacle identification tags 178 are used tocompile the logistic data identifying the location, e.g., X-Ycoordinates, of each specific receptacle 61 within the respectivereceptacle retention apparatus 62. Generally, prior to operation of theASOSS 10, each receptacle tag 178 is read, or interpreted, and then eachreceptacle 61 is assigned a position within the receptacle retentionapparatus 62. The identification information for each receptacle 61 andthe corresponding positions of the receptacles 61 within the receptacleretention apparatus 62 are stored in the MCS 22 as logistic data usedduring execution of the object sorting program, as described above.

In various embodiments, the receptacle identification tags 178 areautomatically ‘read’, or interpreted, by the user interface 164 andautomatically input to the MCS 22. For example, in various embodiments,the receptacle identification tags 178 comprise ‘bar code’ labelsreadable by a bar code reader user interface 164, e.g., a hand held barcode reader. The bar code receptacle identification tags 178 of eachreceptacle 61 are read utilizing the bar code reader user interface 178.

In various other embodiments, the receptacle identification tags 178 cancomprise any other sort of ‘readable’ label and the user interface 164can comprise any suitable corresponding automated label reader. Forexample, the receptacle identification tags 178 can comprise magnetictags or magnetic strips readable by a suitable magnetic tag or stripreader user interface 164. Alternatively, the receptacle identificationtags 178 can comprise electronic tags or devices readable by a suitableelectronic tag or device reader user interface 164. In still otherembodiments, the receptacle identification tags 178 can comprise anyother sort of human readable or interpretable labels or tags. In whichcase, the user or operator would read human readable receptacleidentification tags 178 and manually input the receptacle identificationinformation directly into the MCS 22 using the user interface 164, e.g.,a keyboard, mouse, stylus or touch-screen display.

Referring again to FIG. 1, in various embodiments the ASOSS 10 includesat least one emergency stop button 182 accessibly located on ASOSSframework structure 72. Each emergency stop button 182 iscommunicatively connected to the MCS 22 and/or an electrical powersource used to operate the ASOSS 10. During operation of the ASOSS 10,if a situation arises requiring the immediate shut down of the ASOSS 10,an emergency stop button 182 can be depressed to immediately terminateoperation of the ASOSS 10. For example, each emergency stop button 182can transmit a stop command signal to the MCS processor 154 instructingthe processor 154 to terminate operation of the ASSOS 10. Alternatively,or additionally, each emergency stop button 182 can include a switchthat breaks or disconnects the flow of electricity to ASOSS 10, therebyterminating electrical power necessary for the ASOSS 10 to operate.

The description herein is merely exemplary in nature and, thus,variations that do not depart from the gist of that which is describedare intended to be within the scope of the teachings. Such variationsare not to be regarded as a departure from the spirit and scope of theteachings.

What is claimed is:
 1. An automated method for sorting objects, themethod comprising: moving an automated object extraction assembly into aposition to remove an object from an object sorting tray; extracting, bythe automated object extraction assembly, the object from the objectsorting tray; transferring, by the automated object extraction assembly,the extracted object to a transfer funnel; and positioning, by anautomated collection assembly, a receptacle below the transfer funnel toreceive the extracted object from the transfer funnel.
 2. The method ofclaim 1, further comprising identifying the object in the object sortingtray, from multiple other objects in the object sorting tray, based onat least one characteristic of the object, prior to extracting theobject from the object sorting tray.
 3. The method of claim 2, furthercomprising identifying the receptacle to receive the extracted object,from multiple different receptacles, based on the at least onecharacteristic of the extracted object.
 4. The method of claim 2,wherein identifying the object in the object sorting tray includes:accessing logistic data for the objects in the object sorting tray; andidentifying the object in the object sorting based on the accessedlogistic data.
 5. The method of claim 1, wherein the object sorting trayincludes multiple objects; and further comprising generating logisticdata based on specific attributes of each of the multiple objects in theobject sorting tray and storing the logistic data in a database.
 6. Themethod of claim 5, further comprising: reading an identification deviceassociated with the object sorting tray that identifies the logisticdata in the database; identifying the object in the object sorting traybased on the logistic data read from the identification device; andselecting the receptacle, from multiple receptacles, based on thelogistic data read from the identification device.
 7. The method ofclaim 1, wherein positioning a receptacle below the transfer funnelincludes moving a platform supporting the receptacle in an X-Y plane tothereby position the receptacle below the transfer funnel.
 8. The methodof claim 1, further comprising moving the object sorting tray between afirst position in which the object sorting tray is disposed over thetransfer funnel and a second position in which the object sorting trayis disposed away from the transfer funnel; wherein extracting the objectfrom the object sorting tray includes extracting the object from theobject sorting tray when the object sorting tray is in the firstposition; and wherein transferring the extracted object to a transferfunnel includes transferring the extracted object to the transfer funnelwhen the object sorting tray is in the second position.
 9. The method ofclaim 1, wherein the object sorting tray includes multiple objects; andwherein extracting the object from the object sorting tray includessimultaneously extracting the object and at least one additional objectfrom the object sorting tray.
 10. The method of claim 9, whereintransferring the extracted object to a transfer funnel includessimultaneously transferring the object and the at least one additionalobject to the transfer funnel.
 11. An automated method for sortingobjects, the method comprising: moving an object sorting tray into aposition under an object extraction assembly; extracting, by the anobject extraction assembly, an object from the object sorting tray bymoving the object out of the object sorting tray in a generally upwarddirection along a line; and depositing the extracted object into areceptacle by moving the object in a generally downward direction alongthe line.
 12. The method of claim 11, further comprising moving theobject sorting tray between a first position in which the object sortingtray is under the object extraction assembly and a second position inwhich the object sorting tray is away from the object extractionassembly; wherein extracting an object from the object sorting trayincludes extracting the object from the object sorting tray when theobject sorting tray is in the first position; and wherein depositing theextracted object into a receptacle includes depositing the extractedobject into the receptacle when the object sorting tray is in the secondposition.
 13. The method of claim 12, further comprising positioning thereceptacle below the object extraction assembly to receive the extractedobject.
 14. The method of claim 13, further comprising identifying theobject in the object sorting tray, from multiple other objects in theobject sorting tray, based on at least one characteristic of the object,prior to extracting the object from the object sorting tray.
 15. Themethod of claim 14, wherein identifying the object in the object sortingtray includes: accessing logistic data for the objects in the objectsorting tray; and identifying the object in the object sorting based onthe accessed logistic data.
 16. The method of claim 15, furthercomprising identifying the receptacle to receive the extracted object,from multiple different receptacles, based on the least onecharacteristic of the extracted object.
 17. An automated method forsorting objects, the method comprising: moving an array of extractionnozzles of an automated object extraction assembly into position over anobject sorting tray so that each of the extraction nozzles is generallyaligned with a well of the object sorting tray; simultaneouslyextracting, by the extraction nozzles, at least two objects from theobject sorting tray; and receiving the extracted at least two objects inat least one receptacle.
 18. The method of claim 17, wherein receivingthe extracted at least two objects in at least one receptacle includessimultaneously receiving the extracted at least two objects in the atleast one receptacle.
 19. The method of claim 17, wherein simultaneouslyextracting at least two objects from the object sorting tray includesmoving each of the at least two objects out of the object sorting trayin a generally upward direction along a line; and wherein receiving theextracted at least two objects in at least one receptacle includesdepositing the extracted at least two objects into the at least onereceptacle by moving each of the at least two objects in a generallydownward direction along the line.
 20. The method of claim 17, furthercomprising moving the object sorting tray between a first position inwhich the object sorting tray is disposed under the array of extractionnozzles and a second position in which the object sorting tray isdisposed away from the array of extraction nozzles; whereinsimultaneously extracting at least two objects from the object sortingtray includes simultaneously extracting the at least two objects fromthe object sorting tray when the object sorting tray is in the firstposition; and wherein receiving the extracted at least two objects in atleast one receptacle includes receiving the extracted at least twoobjects in the at least one receptacle when the object sorting tray isin the second position.